EP2060169B1 - Vorrichtung und Verfahren zur Reinigung eines Melksystems - Google Patents

Vorrichtung und Verfahren zur Reinigung eines Melksystems Download PDF

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Publication number
EP2060169B1
EP2060169B1 EP07254499.2A EP07254499A EP2060169B1 EP 2060169 B1 EP2060169 B1 EP 2060169B1 EP 07254499 A EP07254499 A EP 07254499A EP 2060169 B1 EP2060169 B1 EP 2060169B1
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EP
European Patent Office
Prior art keywords
teat
teat cup
teat cups
cleaning
manipulation device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP07254499.2A
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English (en)
French (fr)
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EP2060169A1 (de
Inventor
Axelsson Thomas
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DeLaval Holding AB
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DeLaval Holding AB
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Filing date
Publication date
Application filed by DeLaval Holding AB filed Critical DeLaval Holding AB
Priority to EP07254499.2A priority Critical patent/EP2060169B1/de
Priority to CA2704700A priority patent/CA2704700C/en
Priority to PCT/GB2008/003857 priority patent/WO2009063227A1/en
Priority to US12/739,423 priority patent/US8342124B2/en
Priority to NZ584237A priority patent/NZ584237A/xx
Priority to AU2008322743A priority patent/AU2008322743B2/en
Publication of EP2060169A1 publication Critical patent/EP2060169A1/de
Application granted granted Critical
Publication of EP2060169B1 publication Critical patent/EP2060169B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J7/00—Accessories for milking machines or devices
    • A01J7/02—Accessories for milking machines or devices for cleaning or sanitising milking machines or devices
    • A01J7/025—Teat cup cleaning, e.g. by rinse jetters or nozzles

Definitions

  • the present invention relates to an apparatus and method for cleaning a milking system and particularly, but not exclusively, to an apparatus and method for cleaning a milking system associated with a rotary milking parlour.
  • the present invention can be utilised in various types of milking parlour known in the dairy industry.
  • One of these arrangements is of particular use in handling a large number of animals and is often referred to as the rotary parlour.
  • This type of parlour is provided with a comparatively large number of milking stalls arranged in a circular configuration on a rotating annular platform.
  • the platform rotates at a relatively low constant speed so that a cow may readily step onto the platform from a stationary holding bay and thereby gain access to a stall. If necessary, the rotary movement of the platform may be stopped momentarily in order to allow a cow sufficient time to enter (or exit) the platform.
  • the continued rotation of the platform then moves the stall into a position where an operator can perform certain tasks (such as teat cleaning and placement of teat cups on the teats) so as to allow the milking process to begin.
  • the speed of rotation is such that the milking process will have been completed by the time a stall has moved from the cow entry position (where a cow gains entry onto the platform) to a cow exit position (where a cow is permitted to leave the platform).
  • the cow entry and exit points are adjacent one another so as to maximise the time a cow spends in the milking stall.
  • cows may constantly enter and exit a rotary parlour without necessarily stopping the platform rotation and this allows for a large number of cows to be handled. It will be also understood that the movement of the platform results in cows being brought to an operator in turn. The operator is therefore able to remain in one location and concentrate on essential milking tasks without interruptions.
  • a cow stands in a stall facing diagonally towards the outside of an annular rotating platform, in the general direction of rotation.
  • One or more operators stand on the inside of the rotating platform and are thereby provided good access to the side of each cow.
  • Milking equipment is positioned alongside each cow on the inside edge of the platform.
  • a cow stands in a stall of a rotating platform so as to face radially inward towards the centre of rotation of the platform. Operators stood outside the rotating platform are then able to work from the rear of each cow as the cow passes in turn. Because the cows are positioned side by side, the parallel rotary system allows more cows to be accommodated in the same space.
  • each milking stall is provided with a cluster of four teat cups. These teat cups are attached to the teats of a cow located within the stall so as to allow said cow to be milked.
  • an automatic retraction system is typically used to remove the four teat cups simultaneously from the teats.
  • Such a system comprises a cord which is attached to the teat cup cluster and which is retracted automatically at an appropriate time so as to pull the teat cup cluster from the cow.
  • the teat cups may then be dragged through a stationary pool of cleaning fluid as the rotary platform rotates, or an operator may place each teat cup manually on a wash candle/nozzle. The teat cups may be thereby rinsed before being attached to the next cow to be milked.
  • the milking system as whole i.e. the teat cups and associated hoses for all the milking stalls, and the pumping system
  • a cleaning fluid Since the teat cups of a rotary parlour are all interlinked (i.e. in fluid communication with one another), each teat cup must be placed in sealing engagement with a wash nozzle (which supplies cleaning fluid under pressure) so as to form a closed circuit before the full system wash may commence.
  • This process of placing each teat cup on a wash candle is completed manually for the entire rotary parlour and is both labour intensive and time consuming.
  • a prior art implement for milking cows is disclosed in EP 0 990 387 wherein a robotic arm is used to carry a teat cup cluster, so that the cups of this cluster can be automatically connected to the teats of an animal.
  • a cleaning member is provided for cleaning the teat cups, comprising a plate with four recesses into which the teat cups are inserted.
  • the robotic arm is also used to bring the teat cups, contemporaneously with one another as a cluster, to a position adjacent the cleaning implement for the purposes of cleaning the teat cups.
  • a first aspect of the present invention provides a method as recited in the appended independent claim 1.
  • a second aspect of the present invention provides apparatus as recited in the appended independent claim 13.
  • the present invention provides the advantage over the prior art of allowing a milking parlour to be quickly and conveniently configured for a full system wash, particularly where the milking parlour is of a type having multiple milking stalls and very large numbers of teat cups attached individually to the teats of a cow (such as in a rotary milking parlour).
  • a milking stall of a parallel rotary milking parlour is schematically shown in Figures 1 to 4 of the accompanying drawings.
  • the milking stall is one of a number of identical milking stalls located side-by-side on a rotating platform 4.
  • Figures 1 and 2 show a cow 1 stood on the rotating platform 4 in the milking stall.
  • Figures 3 and 4 show, in phantom, the original position of the cow 1 after the milking process has been completed and the cow 1 has left the milking stall.
  • Each milking stall on the rotating platform 4 is provided with four teat cups 8a, 8b, 8c, 8d for attachment to the teats of a cow 1; a teat cup magazine 5 for receiving the teat cups 8a, 8b, 8c, 8d when not in use; and a cleaning implement 3 having four wash nozzles 3a, 3b, 3c, 3d for receiving the teat cups 8a, 8b, 8c, 8d during a general cleaning of the milking system.
  • Each teat cup 8a, 8b, 8c, 8d is connected to a vacuum system in a conventional manner by means of separate hoses 9a, 9b, 9c, 9d and is thereby able to extract milk from a teat.
  • the use of separate hoses allows the teat cups 8a, 8b, 8c, 8d to be moved separately to, and independently of, one another.
  • the teat cup magazine 5 is provided with four apertures in which the four teat cups 8a, 8b, 8c, 8d may be located when not attached to the teats of a cow 1 or received by the wash nozzles 3a, 3b, 3c, 3d of the cleaning implement 3.
  • the use of the magazine 5 assists in storing the teat cups 8a, 8b, 8c, 8d in an organised fashion and ensures their storage location is known so as to assist in their automatic movement to a teat or wash nozzle.
  • Each hose 9a, 9b, 9c, 9d passes through a different one of the four magazine apertures when the teat cups 8a, 8b, 8c, 8d are pulled from the magazine 5.
  • each teat cup 8a, 8b, 8c, 8d is guided back to the magazine 5 and into its respective aperture.
  • the cleaning implement 3 (shown schematically in the drawings) is provided for receiving the teat cups 8a, 8b, 8c, 8d after they have been used for milking.
  • the cleaning implement 3 is provided with four wash nozzles (or wash candles) 3a, 3b, 3c, 3d arranged in a linear array along a common manifold 3e.
  • a cleaning fluid supply hose (not shown) is connected to the manifold 3e for supplying cleaning fluid to each nozzle 3a, 3b, 3c, 3d.
  • wash nozzles 3a, 3b, 3c, 3d are shown in the drawings pointing vertically upwards, any convenient orientation of the nozzles could be used.
  • the nozzles may be arranged so as to point vertically downwards or horizontally.
  • a robotic manipulation device comprising a robotic arm 2 is also provided for servicing a milking stall.
  • the robotic manipulation device is located adjacent the rotating platform 4, rather than in a milking stall itself, so as to be capable of servicing each stall of the rotary parlour as each stall passes in turn. It will be understood therefore that only a single robotic manipulation device is required for the entire rotary parlour. Nevertheless, one or more further robotic manipulation devices may be provided if deemed necessary.
  • the robotic arm 2 of the manipulation device is adapted to grasp one of the teat cups 8a, 8b, 8c, 8d and then move it from one location to another before the teat cup 8a, 8b, 8c, 8d is released.
  • the teat cups 8a, 8b, 8c, 8d can be moved, in turn, to the cleaning implement 3.
  • the robotic arm 2 is adapted to move the teat cups 8a, 8b, 8c, 8d to a position adjacent to, or engaging with, the wash nozzles 3a, 3b, 3c, 3d one after another in a predefined sequence.
  • this involves moving a first teat cup 8a to a first wash nozzle 3a and then moving each subsequent teat cup 8b, 8c, 8d to a respective wash nozzle 3b, 3c, 3d adjacent the nozzle previously engaged with a teat cup.
  • the rotating platform 4 moves an empty milking stall into a position in which the stall may be accessed by a cow 1 to be milked. If necessary, the platform 4 may be momentarily stopped in order to allow the cow 1 to more readily access the stall.
  • the robotic arm grasps the teat cups 8a, 8b, 8c, 8d one by one and individually moves the teat cups from the magazine 5 to the teats of the cow 1. In this way, all four teat cups 8a, 8b, 8c, 8d are attached to the teats of the cow 1 by the robotic arm 2 before the cow 1 moves beyond the reach of the robotic arm 2 (see Figure 1 ).
  • the robotic arm 2 attaches the teat cups 8a, 8b, 8c, 8d to the teats in an entirely automatic fashion.
  • a conventional arrangement of detectors/sensors may be used for determining the location of the teats so that the robotic arm 2 may place each teat cup 8a, 8b, 8c, 8d, correctly.
  • the milking operation is then begun and is monitored by various sensors (for example, a milk meter, conductivity sensors, and temperature sensors). Finally, once it is detected that the milking operation has been completed, the teat cups are automatically detached from the teats by means of the automatic teat cup retraction system 10.
  • This retraction system 10 pulls the hoses 9a, 9b,9c, 9d attached to the teat cups 8a, 8b, 8c, 8d back through the teat cup magazine 5 and thereby pulls the teat cups 8a, 8b, 8c, 8d from the teats.
  • the teat cups 8a, 8b,8c, 8d are pulled back into a known storage position within the teat cup magazine 5 where they may be again readily located by the robotic arm 2 for subsequent manipulation. It will be appreciated that the platform 4 meanwhile continues to rotate (see Figure 2 ).
  • the cow 1 may leave the rotating platform 4 at a suitable exit point. The stall then becomes vacated and available to receive a further cow.
  • cleaning fluid enters the milking system at each teat cup of the system (i.e. at each teat cup in every stall of the parlour) by means of the cleaning implement 3 located in each stall.
  • each teat cup, 8a, 8b, 8c, 8d is located in sealing engagement with a respective wash candle 3a, 3b, 3c, 3d so as to form a closed circuit between the milking system (which, in ordinary use, receives milk) and a wash system (which provides cleaning fluid, rather than milk, to the teat cups).
  • the robotic arm 2 is used to move the teat cups 8a, 8b, 8c, 8d in turn from the teat cup magazine 5 to respective wash nozzles 3a, 3b, 3c, 3d of the cleaning implement 3.
  • the robotic arm 2 thereby sealingly engages each teat cup of a milking stall with the cleaning implement 3 of that stall.
  • the robotic arm 2 moves the teat cups of each stall in this way as each stall passes the robotic arm 2. It is emphasised that the same robotic arm 2 which attaches the teat cups to the teats of a cow is used to attach the teat cups to the cleaning implement 3.
  • the teat cups 8a, 8b, 8c, 8d are removed from the cleaning implement 3 through operation of the automatic teat cup retraction system 10. Accordingly, it will be appreciated that the teat cups 8a, 8b, 8c, 8d are detached from the wash nozzles 3a, 3b, 3c, 3d in the same way that they are detached from the teats of a cow 1.
  • the teat cups 8a, 8b, 8c, 8d are then returned to their known storage position in the teat cup magazine 5 by the retraction system 10.
  • the robotic arm is provided with means for carrying two or more teat cups simultaneously.
  • the robotic arm 2 is provided with a teat cup receiving element 20 which has a generally square plan form with a recess 22 provided at each corner thereof for receiving a teat cup 8.
  • the recesses 22 of the teat cup receiving element 20 have a part-circular shape with a radius of curvature equal to the radius of an outer surface of a teat cup 8 to be received by the element 20. It will be understood that the arrangement is such that the recesses 22 of said element 20 are sized and shaped so to maximise contact between said element 20 and a teat cup 8 received in a recess 22. In this way, a teat cup may be securely retained in a recess 22 without excessive or other undesirable movement of the teat cup relative to said element 20.
  • the teat cup receiving element 20 further comprises a magnetic component 24 which magnetically attracts the teat cups 8 and retains each teat cup in a recess 22. More specifically, an electro-magnet 24a, 24b, 24c, 24d is associated with each recess 22a, 22b, 22c, 22d and may be selectively operated to generate a magnetic field. The magnetic field is of sufficient strength to retain a teat cup 8 in the recess with which the electro-magnet is associated. The electro-magnets are operable to generate a magnetic field independently of one another. In this way, the robot arm 2 may pick up a teat cup 8 by moving said element 20 into a position whereby a recess 22 locates about the teat cup.
  • the electro-magnet associated with the recess may then be operated to magnetically attract the teat cup 8 and thereby retain the teat cup 8 within said recess.
  • All four teat cups may be individually collected, in turn, by the robot arm 2 in this way and then moved simultaneously to the wash nozzles 3.
  • the teat cups 8 may then be individually placed on a respective wash nozzle in turn.
  • the magnetic attraction of the electro-magnet 24 may then be overcome by moving the robot arm 2 in a particular way relative to the wash candle 3. For example, having moved a teat cup 8a in an axial direction into engagement with a wash nozzle 3a, the robot arm 2 may then move laterally relative to the wash nozzle 3a so that the wash nozzle 3a effectively pulls the teat cup 8a laterally from the respective recess 22a. Alternatively, the electro-magnet may be operated (turned off) so as to cancel the magnetic field. The robot arm 2 may still then be moved laterally so as to remove the recess in a lateral direction from the associated teat cup. The remaining teat cups 8b, 8c, 8d may then be individually deposited on the remaining wash nozzles 3b, 3c, 3d in the same way.
  • the robot arm 2 may be provided with a teat cup receiving element having a different number of recesses to that shown in Figure 5 .
  • means other than a magnetic component 24 may be provided for retaining a teat cup within one of said recesses.
  • the robot arm 2 may be provided with an entirely different device to the one shown in Figure 5 for simultaneously transporting two or more teat cups and for depositing said teat cups individually in turn.
  • the robot arm 2 may be capable of simultaneously moving more than one teat cup, it may nethertheless be operated so as to move teat cups individually. It will also be understood that, because the teat cups 8 are deposited from the robot arm 2 individually, it is not necessary for the teat cups 8 to be simultaneously aligned with the wash nozzles 3 with which they are to engage. Accordingly, the teat cups 8 may be carried simultaneously by the robot arm 2 in close proximity to one another (i.e. in a compact configuration) which is independent of the configuration or layout of the wash nozzles 3. In this way, four teat cups may be conveniently carried simultaneously by the robot arm 2, particularly in congested areas near a cow or other milking equipment.

Claims (19)

  1. Verfahren zum Reinigen einer Vielzahl von Zitzenbechern (8a, 8b, 8c, 8d), wobei das Verfahren die Schritte eines Verwendens einer Roboter-Manipulationseinrichtung (2), um die Vielzahl von Zitzenbechern (8) von einer ersten Position in eine zweite Position zu bewegen, und eines Reinigens der Zitzenbecher an der zweiten Position umfasst; wobei die Roboter-Manipulationseinrichtung (2) die Zitzenbecher (8) wiederum einzeln an der zweiten Position ablegt; und dadurch gekennzeichnet, dass jeder Zitzenbecher von einem Zitzenbechermagazin (5) aufgenommen wird, wenn er sich in der ersten Position befindet.
  2. Verfahren nach Anspruch 1, wobei jeder Zitzenbecher (8) einzeln von dem Zitzenbechermagazin (5) zu der zweiten Position bewegt wird.
  3. Verfahren nach Anspruch 1, wobei jeder Zitzenbecher (8) gleichzeitig mit zumindest einem weiteren der Zitzenbecher von dem Zitzenbechermagazin bewegt wird.
  4. Verfahren nach einem der vorhergehenden Ansprüche, wobei jeder Zitzenbecher (8) neben einer Waschdüse (3) angeordnet ist, wenn er sich in der zweiten Position befindet.
  5. Verfahren nach Anspruch 4, wobei jeder Zitzenbecher (8) in einem Abdichtungseingriff mit einer Waschdüse (3) angeordnet ist, wenn er sich in der zweiten Position befindet.
  6. Verfahren nach einem der vorhergehenden Ansprüche, wobei die Vielzahl von Zitzenbechern (8) in der zweiten Position einzeln nacheinander in einer vordefinierten Reihenfolge abgelegt werden.
  7. Verfahren nach einem der vorhergehenden Ansprüche, wobei die Vielzahl der Zitzenbecher (8) in einer Vielzahl von Melkständen bereitgestellt werden.
  8. Verfahren nach Anspruch 7, wobei die Vielzahl der Melkstände auf einer Plattform (4) bereitgestellt sind, welche sich relativ zu der Roboter-Manipulationseinrichtung (2) bewegt, so dass die Vielzahl von Melkständen die Roboter-Manipulationseinrichtung (2) nacheinander passieren, und wobei die Roboter-Manipulationseinrichtung (2) die Zitzenbecher (8) eines Melkstands bewegt, wenn der Melkstand die Roboter-Manipulationseinrichtung (2) passiert.
  9. Verfahren nach einem der vorhergehenden Ansprüche, wobei die Roboter-Manipulationseinrichtung (2) jeden der Vielzahl der Zitzenbecher (8) in einen Abdichtungseingriff mit einer unterschiedlichen einer Vielzahl von Waschdüsen (3) bewegt, um so einen geschlossenen hydraulischen Kreislauf bereitzustellen, entlang welchem ein Reinigungsfluid strömen kann.
  10. Verfahren nach Anspruch 9, umfassend den weiteren Schritt eines Pumpens eines Reinigungsfluids entlang des geschlossenen hydraulischen Kreislaufs.
  11. Verfahren nach einem der vorhergehenden Ansprüche, umfassend den weiteren Schritt eines Zurückziehens eines Schlauchs (9), der an einem Zitzenbecher angebracht ist und in einer Fluidverbindung mit diesem steht, um so den Zitzenbecher (8) nach dem Reinigungsschritt von der zweiten Position zu ziehen.
  12. Verfahren nach Anspruch 11, wobei der Zitzenbecher (8) von der zweiten Position in das Zitzenbechermagazin gezogen wird.
  13. Vorrichtung zum Reinigen eines Melksystems, wobei die Vorrichtung umfasst:
    eine Roboter-Manipulationseinrichtung (2), die dafür geeignet ist, Zitzenbecher (8) zu manipulieren, und mittels weicher Zitzenbecher (8) mit den Zitzen eines Tieres (9) verbunden werden und in eine Reinigungsposition bewegt werden, und ein Zitzenbechermagazin (5), wobei die Roboter-Manipulationseinrichtung (2) betriebsfähig ist, die Zitzenbecher (8) wiederum einzeln in der Reinigungsposition abzulegen,
    dadurch gekennzeichnet, dass ein Zitzenbecher von dem Zitzenbechermagazin (5) in die Reinigungsposition bewegt wird.
  14. Vorrichtung nach Anspruch 13, wobei die Roboter-Manipulationseinrichtung (2) betriebsfähig ist, die Zitzenbecher (8) einzeln in die Reinigungsposition zu bewegen.
  15. Vorrichtung nach Anspruch 13, wobei die Roboter-Manipulationseinrichtung (2) betriebsfähig ist, zwei oder mehrere Zitzenbecher (8) gleichzeitig von dem Zitzenbechermagazin (5) zu bewegen.
  16. Vorrichtung nach einem der Ansprüche 13 bis 15, wobei die Vorrichtung ferner eine Vielzahl von Melkständen umfasst, die auf einer Plattform (4) bereitgestellt sind, welche relativ zu der Roboter-Manipulationseinrichtung (2) beweglich ist, wobei jeder Melkstand mit einer Vielzahl von Zitzenbechern (8) und einem Reinigungsgerät ausgestattet ist, das eine Vielzahl von Waschdüsen (3) zum Aufnehmen jedes der Zitzenbecher (8) in der Reinigungsposition aufweist.
  17. Vorrichtung nach Anspruch 16, wobei die Roboter-Manipulationseinrichtung (2) betriebsfähig ist, die Zitzenbecher (8) in einer vordefinierten Reihenfolge in einen Eingriff mit der Vielzahl von Waschdüsen (3) eines Melkstands zu bewegen.
  18. Vorrichtung nach einem der Ansprüche 13 bis 17, ferner umfassend ein Mittel zum Zurückziehen eines Schlauchs (9), welcher an einem Zitzenbecher (8) angebracht ist und in einer Fluidverbindung mit diesem steht, um so den Zitzenbecher von der Reinigungsposition in eine Lagerungsposition zu ziehen.
  19. Vorrichtung nach einem der Ansprüche 13 bis 18, wobei die Roboter-Manipulationseinrichtung (2) eine magnetische Komponente (24) zum Anordnen in der Nähe eines Zitzenbechers (8) umfasst.
EP07254499.2A 2007-11-16 2007-11-16 Vorrichtung und Verfahren zur Reinigung eines Melksystems Not-in-force EP2060169B1 (de)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP07254499.2A EP2060169B1 (de) 2007-11-16 2007-11-16 Vorrichtung und Verfahren zur Reinigung eines Melksystems
CA2704700A CA2704700C (en) 2007-11-16 2008-11-17 Apparatus and method for cleaning a milking system
PCT/GB2008/003857 WO2009063227A1 (en) 2007-11-16 2008-11-17 Apparatus and method for cleaning a milking system
US12/739,423 US8342124B2 (en) 2007-11-16 2008-11-17 Apparatus and method for cleaning a milking system
NZ584237A NZ584237A (en) 2007-11-16 2008-11-17 Appratus and method for cleaning a milking system using a robotic manipulation device which deposits teat cups individually, in turn, at a cleaning position
AU2008322743A AU2008322743B2 (en) 2007-11-16 2008-11-17 Apparatus and method for cleaning a milking system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07254499.2A EP2060169B1 (de) 2007-11-16 2007-11-16 Vorrichtung und Verfahren zur Reinigung eines Melksystems

Publications (2)

Publication Number Publication Date
EP2060169A1 EP2060169A1 (de) 2009-05-20
EP2060169B1 true EP2060169B1 (de) 2014-12-24

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EP07254499.2A Not-in-force EP2060169B1 (de) 2007-11-16 2007-11-16 Vorrichtung und Verfahren zur Reinigung eines Melksystems

Country Status (6)

Country Link
US (1) US8342124B2 (de)
EP (1) EP2060169B1 (de)
AU (1) AU2008322743B2 (de)
CA (1) CA2704700C (de)
NZ (1) NZ584237A (de)
WO (1) WO2009063227A1 (de)

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US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
EP3202258A1 (de) * 2011-04-28 2017-08-09 Technologies Holdings Corp. Verfahren zum anbringen von melkbechern
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WO2013137804A2 (en) 2012-03-14 2013-09-19 Delaval Holding Ab An apparatus and a method for cleaning milking stalls on a rotary platform of a rotary parlour
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NL2012747B1 (nl) * 2014-05-02 2016-02-23 Technologies Holdings Corp Dubbele grijper voor het aanbrengen van melkbekers bij een te melken dier, spoelbeker daarvoor en melkmachine voorzien daarvan, en werkwijze voor het melken.
DE102015002090A1 (de) * 2015-02-23 2016-08-25 Eisenmann Se Vorrichtung zur Behandlung von Gegenständen
CN106172068B (zh) * 2016-06-29 2019-03-26 中国农业大学 一种奶牛自动清洁消毒系统及清洁消毒方法
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EP1169913B1 (de) * 1996-11-01 2004-02-25 Maasland N.V. Vorrichtung zum automatischen Melken von Tieren
SE514439C2 (sv) * 1999-05-28 2001-02-26 Delaval Holding Ab Kopplingsanordning för en spenkopp
SE520278C2 (sv) * 2001-09-20 2003-06-17 Delaval Holding Ab Arrangemang och förfarande för mjölkning av djur
SE0202988D0 (sv) * 2002-03-15 2002-10-10 Delaval Holding Ab A method and an arrangement at a dairy farm
NL1025819C2 (nl) * 2004-03-26 2005-09-27 Lely Entpr Ag Werkwijze en inrichting voor het melken van een melkdier.
SE0403131D0 (sv) * 2004-12-22 2004-12-22 Delaval Holding Ab A compact modular unit and a milking stall comprising such a compact modular unit
DK2131647T3 (da) * 2007-04-03 2013-02-04 Delaval Holding Ab Fremgangsmåde til opsamling af mælk i en mælkebeholder, malkesystem og computerprogramprodukter

Also Published As

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CA2704700C (en) 2016-02-23
US8342124B2 (en) 2013-01-01
AU2008322743B2 (en) 2013-07-25
AU2008322743A1 (en) 2009-05-22
CA2704700A1 (en) 2009-05-22
WO2009063227A1 (en) 2009-05-22
US20100300490A1 (en) 2010-12-02
NZ584237A (en) 2012-11-30
EP2060169A1 (de) 2009-05-20

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